AP_Winch Class Reference

#include <AP_Winch.h>

Collaboration diagram for AP_Winch:

Classes
struct	Backend_Config

Public Member Functions
	AP_Winch ()
bool	enabled () const
void	init (const AP_WheelEncoder *wheel_encoder=nullptr)
void	update ()
void	relax ()
float	get_line_length () const
void	release_length (float length, float rate=0.0f)
void	set_desired_rate (float rate)
float	get_rate_max () const

Static Public Attributes
static const struct AP_Param::GroupInfo	var_info []

Private Types
enum	winch_state { STATE_RELAXED = 0, STATE_POSITION, STATE_RATE }

Private Attributes
AP_Int8	_enabled
struct AP_Winch::Backend_Config	config
AP_Winch_Backend *	backend

Friends
class	AP_Winch_Backend
class	AP_Winch_Servo

Detailed Description

Definition at line 35 of file AP_Winch.h.

Member Enumeration Documentation

winch_state

enum AP_Winch::winch_state

private

Enumerator
STATE_RELAXED
STATE_POSITION
STATE_RATE

Definition at line 75 of file AP_Winch.h.

Constructor & Destructor Documentation

AP_Winch()

AP_Winch::AP_Winch

(

)

Definition at line 71 of file AP_Winch.cpp.

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Member Function Documentation

enabled()

bool AP_Winch::enabled

(

void

)

const

Definition at line 77 of file AP_Winch.cpp.

get_line_length()

float AP_Winch::get_line_length ( ) const

inline

Definition at line 55 of file AP_Winch.h.

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get_rate_max()

float AP_Winch::get_rate_max ( ) const

inline

Definition at line 65 of file AP_Winch.h.

Referenced by release_length(), and set_desired_rate().

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init()

void AP_Winch::init

(

const AP_WheelEncoder *

wheel_encoder = nullptr

)

Definition at line 86 of file AP_Winch.cpp.

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relax()

void AP_Winch::relax ( )

inline

Definition at line 52 of file AP_Winch.h.

release_length()

void AP_Winch::release_length	(	float	length,
		float	rate = 0.0f
	)

Definition at line 109 of file AP_Winch.cpp.

Referenced by get_line_length().

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set_desired_rate()

void AP_Winch::set_desired_rate

(

float

rate

)

Definition at line 121 of file AP_Winch.cpp.

Referenced by get_line_length().

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update()

void AP_Winch::update

(

)

Friends And Related Function Documentation

AP_Winch_Backend

friend class AP_Winch_Backend

friend

Definition at line 36 of file AP_Winch.h.

AP_Winch_Servo

friend class AP_Winch_Servo

friend

Definition at line 37 of file AP_Winch.h.

Referenced by init().

Member Data Documentation

_enabled

AP_Int8 AP_Winch::_enabled

private

Definition at line 72 of file AP_Winch.h.

Referenced by enabled(), and init().

backend

AP_Winch_Backend* AP_Winch::backend

private

Definition at line 92 of file AP_Winch.h.

Referenced by enabled(), and init().

config

struct AP_Winch::Backend_Config AP_Winch::config

private

Referenced by enabled(), get_line_length(), get_rate_max(), init(), relax(), release_length(), and set_desired_rate().

var_info

const AP_Param::GroupInfo AP_Winch::var_info

static

Definition at line 67 of file AP_Winch.h.

Referenced by AP_Winch().

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The documentation for this class was generated from the following files:

• libraries/AP_Winch/AP_Winch.h
• libraries/AP_Winch/AP_Winch.cpp